• Previous call tries 1 | • 94.77 of 310.00 AH used of 24V (69.43% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -73.4 deg, depth 0.89 m | • Intended pitch -23.0 deg, speed -10.010 cm/s | |
• VBD pumped to 515.37 (SM_CC=515.36688) | ||
• GPS1 time: 23 s | • bottom range 37.1 m at 456.3 m, depth 493 m (1000 m grid) | |
• GPS2 time: 6 s | • Transponder ping count: 6 | |
• Time spent turning 0 s |
t(s) | depth(m) | w(cm/s) | num pts | t(s) | GC phase | pitch | roll | VBD | pit | rol | VBD | volts | |||||||||||||||||
ctl(cm) | t(s) | A | pos(AD) | rate | t(s) | A | pos(AD) | rate | ctl(cc) | t(s) | A | pos(AD) | rate | eff | r | e | r | e | r | e | pit | roll | vbd | flags | |||||
19 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
19 | begin dive | ||||||||||||||||||||||||||||
22 | - | - | - | 106 | VBD | -0.88 | - | - | 53 | - | - | - | 1789 | - | -92.5 | -81.93 | - | 2838 | - | - | - | - | - | - | - | - | 14.92 | - | 14.93 |
110 | 3.4 | -5.9 | 15 | 135 | roll | -0.88 | 14.20 | 0.291 | 2468 | 170.1 | 2.40 | 0.073 | 392 | -582.1 | -92.5 | -4.05 | - | 3079 | -59.5 | - | - | - | - | - | - | - | 14.52 | 13.59 | 14.78 |
174 | 27.8 | -29.3 | 26 | 180 | done | -0.88 | - | - | 2459 | - | 2.33 | 0.032 | 1812 | 609.4 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.86 | 14.78 | 14.88 |
244 | 47.4 | -27.5 | 39 | 251 | roll | -0.88 | 0.05 | 0.372 | 2459 | - | 2.30 | 0.044 | 3215 | 610.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.62 | 14.78 | 14.80 |
328 | 68.1 | -19.2 | 55 | 336 | done | -0.88 | 0.05 | 0.319 | 2468 | 180.0 | 2.33 | 0.041 | 1807 | -604.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.66 | 14.82 | 14.85 |
398 | 80.6 | -13.6 | 68 | 405 | roll | -0.88 | - | - | 2459 | - | 2.35 | 0.048 | 3215 | 599.1 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.04 | 14.82 | 15.05 |
622 | 107.7 | -13.2 | 112 | 629 | done | -0.88 | - | - | 2460 | - | 2.35 | 0.040 | 1801 | -601.7 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.97 | 14.88 | 14.97 |
693 | 116.7 | -13.4 | 125 | 699 | done | -0.88 | - | - | 2459 | - | - | - | 1801 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.09 | 15.10 | 15.09 |
762 | 125.8 | -13.3 | 138 | 768 | roll | -0.88 | - | - | 2450 | - | 2.38 | 0.047 | 3225 | 598.3 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.10 | 14.88 | 15.10 |
946 | 149.1 | -12.4 | 174 | 953 | done | -0.88 | 0.10 | 0.223 | 2470 | 200.0 | 2.33 | 0.040 | 1812 | -606.4 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.75 | 14.86 | 14.90 |
1017 | 157.9 | -12.3 | 187 | 1023 | done | -0.88 | - | - | 2470 | - | - | - | 1812 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.12 | 15.13 | 15.12 |
1088 | 166.2 | -11.3 | 200 | 1095 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.047 | 3216 | 602.6 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.11 | 14.89 | 15.11 |
1132 | 171.7 | -13.0 | 208 | 1139 | done | -0.88 | - | - | 2462 | - | 2.30 | 0.039 | 1813 | -610.0 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.01 | 14.91 | 15.01 |
1203 | 180.2 | -13.2 | 221 | 1209 | done | -0.88 | - | - | 2461 | - | - | - | 1813 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.12 | 15.13 | 15.12 |
1271 | 189.1 | -12.3 | 234 | 1278 | roll | -0.88 | - | - | 2451 | - | 2.35 | 0.047 | 3224 | 600.4 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.13 | 14.87 | 15.13 |
1326 | 196.1 | -12.5 | 244 | 1333 | done | -0.88 | 0.10 | 0.224 | 2472 | 210.0 | 2.33 | 0.040 | 1809 | -607.3 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.76 | 14.88 | 14.90 |
1397 | 204.4 | -11.7 | 257 | 1405 | done | -0.88 | - | - | 2471 | - | - | - | 1810 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.15 | 15.15 | 15.15 |
1469 | 212.9 | -12.1 | 270 | 1475 | roll | -0.88 | - | - | 2463 | - | 2.33 | 0.047 | 3216 | 603.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.14 | 14.91 | 15.14 |
1554 | 222.5 | -10.2 | 286 | 1560 | done | -0.88 | - | - | 2463 | - | 2.30 | 0.041 | 1813 | -610.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.03 | 14.93 | 15.04 |
1624 | 230.2 | -12.0 | 299 | 1630 | done | -0.88 | - | - | 2463 | - | - | - | 1814 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.16 | 15.16 | 15.16 |
1693 | 238.6 | -11.7 | 312 | 1699 | roll | -0.88 | - | - | 2453 | - | 2.33 | 0.047 | 3217 | 602.1 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.16 | 14.92 | 15.17 |
1741 | 243.9 | -10.7 | 321 | 1749 | done | -0.88 | 0.08 | 0.255 | 2469 | 200.0 | 2.30 | 0.041 | 1814 | -610.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.81 | 14.95 | 14.97 |
1812 | 252.5 | -13.4 | 334 | 1818 | done | -0.88 | - | - | 2469 | - | - | - | 1814 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.17 | 15.18 | 15.18 |
1884 | 260.3 | -11.1 | 347 | 1890 | roll | -0.88 | - | - | 2460 | - | 2.33 | 0.048 | 3214 | 600.9 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.18 | 14.94 | 15.19 |
1959 | 269.0 | -10.9 | 361 | 1966 | done | -0.88 | - | - | 2460 | - | 2.30 | 0.041 | 1813 | -609.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.04 | 14.95 | 15.06 |
2031 | 277.2 | -11.9 | 374 | 2037 | done | -0.88 | 0.03 | 0.503 | 2468 | 266.7 | - | - | 1812 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.81 | 15.00 | 14.97 |
2101 | 286.1 | -12.8 | 387 | 2108 | roll | -0.88 | - | - | 2460 | - | 2.33 | 0.048 | 3214 | 601.7 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.17 | 14.94 | 15.17 |
2150 | 292.6 | -12.9 | 396 | 2157 | done | -0.88 | - | - | 2460 | - | 2.30 | 0.041 | 1812 | -609.6 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.04 | 14.95 | 15.06 |
2232 | 303.3 | -13.7 | 408 | 2233 | done | -0.88 | - | - | 2460 | - | - | - | 1812 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
2351 | 320.2 | -14.2 | 414 | 2357 | roll | -0.88 | - | - | 2449 | - | 2.33 | 0.047 | 3215 | 602.1 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
2408 | 326.1 | -13.8 | 416 | 2415 | done | -0.88 | 0.10 | 0.227 | 2470 | 210.0 | 2.30 | 0.041 | 1806 | -612.6 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 14.85 | 14.98 | 15.01 |
2534 | 344.4 | -13.4 | 423 | 2535 | done | -0.88 | - | - | 2470 | - | - | - | 1806 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.23 |
2654 | 358.6 | -11.5 | 429 | 2659 | roll | -0.88 | - | - | 2462 | - | 2.35 | 0.050 | 3220 | 601.7 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.24 | 14.99 | 15.24 |
2700 | 363.6 | -11.5 | 431 | 2706 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.041 | 1811 | -612.6 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.11 |
2839 | 380.9 | -12.8 | 438 | 2840 | done | -0.88 | - | - | 2462 | - | - | - | 1810 | - | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
2959 | 395.5 | -11.9 | 444 | 2964 | roll | -0.88 | - | - | 2451 | - | 2.35 | 0.051 | 3222 | 600.9 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.23 |
3037 | 401.4 | -9.8 | 447 | 3044 | done | -0.88 | 0.10 | 0.229 | 2472 | 210.0 | 2.30 | 0.043 | 1814 | -612.2 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 14.88 | 15.01 | 15.04 |
3163 | 414.9 | -10.6 | 454 | 3168 | roll | -0.88 | - | - | 2464 | - | 2.33 | 0.048 | 3215 | 601.3 | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.25 | 15.00 | 15.26 |
3199 | 417.8 | -11.8 | 455 | 3209 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.042 | 1807 | -612.2 | -92.5 | - | - | 3070 | - | - | - | - | - | - | - | - | 15.10 | 15.00 | 15.11 |
3326 | 437.2 | -14.6 | 462 | 3331 | roll | -0.88 | - | - | 2463 | - | 2.38 | 0.063 | 398 | -592.0 | -92.5 | - | - | 3069 | - | - | - | - | - | - | - | - | 15.25 | 14.99 | 15.26 |
3352 | 440.9 | -14.9 | 463 | 3358 | done | -0.88 | 0.08 | 0.286 | 2474 | 137.5 | 2.30 | 0.034 | 1827 | 621.3 | -92.5 | - | - | 3070 | - | - | - | - | - | - | - | - | 14.85 | 15.04 | 15.04 |
3492 | 462.3 | -15.0 | 470 | 3497 | roll | -0.88 | - | - | 2461 | - | 2.28 | 0.051 | 3212 | 607.5 | -92.5 | - | - | 3068 | - | - | - | - | - | - | - | - | 15.25 | 15.00 | 15.26 |
3559 | 471.5 | -14.8 | 473 | 3564 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.044 | 1805 | -611.7 | -92.5 | - | - | 3068 | - | - | - | - | - | - | - | - | 15.11 | 15.01 | 15.12 |
3635 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
3635 | begin apogee | ||||||||||||||||||||||||||||
3640 | 483.6 | -14.8 | 477 | 3716 | done | -0.17 | 1.17 | 0.110 | 2705 | 208.5 | - | - | 1805 | - | - | 70.25 | 1.367 | 2699 | -5.3 | 0.335 | - | - | - | - | - | - | 14.95 | 14.63 | 14.06 |
3718 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
3718 | begin climb | ||||||||||||||||||||||||||||
3720 | 484.5 | - | 481 | 3810 | roll | 0.88 | 1.50 | 0.076 | 3027 | 214.7 | 2.45 | 0.049 | 3195 | 567.3 | 92.5 | 77.90 | 1.349 | 2320 | -4.9 | 0.315 | - | - | - | - | - | - | 14.62 | 14.42 | 13.89 |
3843 | 482.9 | 1.8 | 487 | 3944 | done | 1.02 | 0.17 | 0.115 | 3078 | 300.0 | 2.38 | 0.046 | 1803 | -584.9 | 205.8 | 92.00 | 1.341 | 1859 | -5.0 | 0.326 | - | - | - | - | - | - | 14.56 | 14.56 | 13.86 |
4082 | 442.5 | 20.1 | 499 | 4083 | done | 1.02 | - | - | 3078 | - | - | - | 1803 | - | 205.8 | - | - | 1853 | - | - | - | - | - | - | - | - | 14.90 | 14.91 | 14.91 |
4202 | 419.0 | 19.7 | 505 | 4207 | roll | 1.02 | - | - | 3078 | - | 2.33 | 0.044 | 3201 | 600.0 | 205.8 | - | - | 1851 | - | - | - | - | - | - | - | - | 15.02 | 14.81 | 15.02 |
4218 | 419.0 | 19.7 | 505 | 4225 | done | 1.02 | - | - | 3084 | - | 2.38 | 0.054 | 1802 | -587.8 | 205.8 | - | - | 1850 | - | - | - | - | - | - | - | - | 14.89 | 14.80 | 14.91 |
4345 | 391.9 | 19.8 | 512 | 4350 | roll | 1.02 | - | - | 3084 | - | 2.33 | 0.046 | 3203 | 601.3 | 205.8 | - | - | 1848 | - | - | - | - | - | - | - | - | 15.08 | 14.87 | 15.09 |
4421 | 379.1 | 19.9 | 515 | 4428 | done | 1.02 | - | - | 3090 | - | 2.35 | 0.053 | 1800 | -597.0 | 205.8 | - | - | 1847 | - | - | - | - | - | - | - | - | 14.98 | 14.88 | 15.00 |
4547 | 351.9 | 19.9 | 522 | 4548 | done | 1.02 | - | - | 3091 | - | - | - | 1800 | - | 205.8 | - | - | 1845 | - | - | - | - | - | - | - | - | 15.15 | 15.16 | 15.15 |
4667 | 324.9 | 23.0 | 528 | 4672 | roll | 1.02 | - | - | 3091 | - | 2.30 | 0.044 | 3197 | 607.4 | 205.8 | - | - | 1845 | - | - | - | - | - | - | - | - | 15.17 | 14.87 | 15.18 |
4750 | 304.1 | 25.4 | 532 | 4755 | done | 1.02 | - | - | 3098 | - | 2.35 | 0.051 | 1793 | -597.4 | 205.8 | - | - | 1845 | - | - | - | - | - | - | - | - | 15.05 | 14.94 | 15.04 |
4877 | 275.6 | 22.0 | 554 | 4883 | done | 1.02 | - | - | 3098 | - | - | - | 1793 | - | 205.8 | - | - | 1844 | - | - | - | - | - | - | - | - | 15.18 | 15.19 | 15.19 |
4945 | 262.2 | 20.6 | 567 | 4952 | roll | 1.02 | - | - | 3098 | - | 2.33 | 0.046 | 3201 | 604.3 | 205.8 | - | - | 1844 | - | - | - | - | - | - | - | - | 15.18 | 14.95 | 15.19 |
5024 | 245.1 | 20.8 | 582 | 5032 | done | 1.02 | 0.10 | 0.299 | 3090 | -80.0 | 2.35 | 0.050 | 1803 | -594.9 | 205.8 | - | - | 1844 | - | - | - | - | - | - | - | - | 14.77 | 14.95 | 14.99 |
5094 | 231.1 | 19.9 | 595 | 5101 | roll | 1.02 | - | - | 3098 | - | 2.40 | 0.068 | 390 | -588.8 | 205.8 | - | - | 1844 | - | - | - | - | - | - | - | - | 15.18 | 14.91 | 15.18 |
5123 | 225.1 | 21.0 | 600 | 5130 | done | 1.02 | - | - | 3098 | - | 2.28 | 0.032 | 1805 | 620.6 | 205.8 | - | - | 1843 | - | - | - | - | - | - | - | - | 15.06 | 14.98 | 15.07 |
5193 | 211.1 | 18.9 | 613 | 5199 | done | 1.02 | - | - | 3105 | - | - | - | 1808 | - | 205.8 | - | - | 1843 | - | - | - | - | - | - | - | - | 15.17 | 15.18 | 15.18 |
5261 | 198.9 | 16.4 | 626 | 5268 | roll | 1.02 | - | - | 3098 | - | 2.28 | 0.047 | 3197 | 609.2 | 205.8 | - | - | 1842 | - | - | - | - | - | - | - | - | 15.17 | 14.94 | 15.18 |
5345 | 186.5 | 14.4 | 642 | 5353 | done | 1.02 | 0.08 | 0.321 | 3093 | -62.5 | 2.38 | 0.053 | 1789 | -591.6 | 205.8 | - | - | 1842 | - | - | - | - | - | - | - | - | 14.76 | 14.93 | 14.98 |
5416 | 176.5 | 15.1 | 655 | 5423 | roll | 1.02 | - | - | 3101 | - | 2.38 | 0.068 | 390 | -587.8 | 205.8 | - | - | 1842 | - | - | - | - | - | - | - | - | 15.16 | 14.83 | 15.16 |
5450 | 170.9 | 16.2 | 661 | 5458 | done | 1.02 | 0.03 | 0.473 | 3094 | -233.3 | 2.28 | 0.034 | 1802 | 619.3 | 205.8 | - | - | 1842 | - | - | - | - | - | - | - | - | 14.73 | 14.96 | 14.97 |
5521 | 160.5 | 14.1 | 674 | 5528 | roll | 1.02 | - | - | 3094 | - | 2.28 | 0.044 | 3191 | 609.2 | 205.8 | - | - | 1841 | - | - | - | - | - | - | - | - | 15.15 | 14.92 | 15.16 |
5560 | 154.4 | 15.1 | 681 | 5567 | done | 1.02 | - | - | 3100 | - | 2.33 | 0.049 | 1796 | -598.7 | 205.8 | - | - | 1842 | - | - | - | - | - | - | - | - | 15.03 | 14.92 | 15.04 |
5630 | 142.8 | 17.1 | 694 | 5636 | done | 1.02 | - | - | 3101 | - | - | - | 1796 | - | 205.8 | - | - | 1842 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
5698 | 130.5 | 18.1 | 707 | 5705 | done | 1.02 | 0.03 | 0.538 | 3093 | -266.7 | - | - | 1796 | - | 205.8 | - | - | 1841 | - | - | - | - | - | - | - | - | 14.73 | 14.97 | 14.95 |
5769 | 118.3 | 18.5 | 720 | 5774 | done | 1.02 | - | - | 3094 | - | - | - | 1796 | - | 205.8 | - | - | 1842 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
5837 | 106.2 | 17.5 | 733 | 5843 | roll | 1.02 | - | - | 3093 | - | 2.33 | 0.048 | 3193 | 599.6 | 205.8 | - | - | 1841 | - | - | - | - | - | - | - | - | 15.14 | 14.81 | 15.14 |
5930 | 89.9 | 18.3 | 751 | 5937 | done | 1.02 | - | - | 3099 | - | 2.35 | 0.050 | 1791 | -596.6 | 205.8 | - | - | 1841 | - | - | - | - | - | - | - | - | 15.02 | 14.91 | 15.04 |
6000 | 78.0 | 16.0 | 764 | 6007 | roll | 1.02 | - | - | 3099 | - | 2.33 | 0.047 | 3191 | 600.9 | 205.8 | - | - | 1841 | - | - | - | - | - | - | - | - | 15.14 | 14.91 | 15.14 |
6236 | 57.5 | 5.6 | 810 | 6287 | done | 1.10 | - | - | 3108 | - | 2.33 | 0.047 | 1798 | -597.9 | 267.1 | 45.67 | 0.907 | 1610 | -5.1 | 0.058 | - | - | - | - | - | - | 15.00 | 14.92 | 14.28 |
6350 | 48.7 | 8.7 | 831 | 6374 | roll | 1.12 | - | - | 3108 | - | 2.35 | 0.044 | 3195 | 594.5 | 285.0 | 16.15 | 0.829 | 1535 | -4.6 | 0.049 | - | - | - | - | - | - | 14.98 | 14.64 | 14.31 |
6446 | 38.3 | 10.3 | 849 | 6453 | done | 1.12 | - | - | 3111 | - | 2.38 | 0.050 | 1795 | -588.2 | 285.0 | - | - | 1532 | - | - | - | - | - | - | - | - | 14.86 | 14.76 | 14.88 |
6517 | 32.0 | 9.3 | 862 | 6529 | done | 1.13 | - | - | 3111 | - | - | - | 1795 | - | 294.7 | 8.35 | 0.712 | 1494 | -4.6 | 0.037 | - | - | - | - | - | - | 15.02 | 14.77 | 14.28 |
6592 | 23.3 | 12.0 | 876 | 6598 | done | 1.13 | - | - | 3111 | - | - | - | 1795 | - | 294.7 | - | - | 1493 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.02 |
6660 | 15.3 | 11.0 | 889 | 6667 | roll | 1.13 | - | - | 3111 | - | 2.40 | 0.067 | 395 | -583.3 | 294.7 | - | - | 1495 | - | - | - | - | - | - | - | - | 15.04 | 14.81 | 15.04 |
6689 | 11.2 | 14.2 | 894 | 6696 | done | 1.13 | - | - | 3110 | - | 2.30 | 0.034 | 1804 | 612.6 | 294.7 | - | - | 1495 | - | - | - | - | - | - | - | - | 14.94 | 14.87 | 14.95 |
6751 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
6751 | begin surface coast | ||||||||||||||||||||||||||||
6774 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
6774 | begin surface | ||||||||||||||||||||||||||||
SM | 0.87 | - | - | - | - | -8.17 | 13.98 | 0.047 | 128 | 9.2 | - | - | 1806 | - | 515.37 | 137.32 | 0.793 | 597 | 4.3 | -0.000 | - | - | - | - | - | - |